System and method for canine training

ABSTRACT

A computer-aided training and management system that uses a computer or other processor in wireless communication with an instrumented dog collar and/or optionally, one or more dog interaction devices, such as, for example, video monitors, loudspeakers, video cameras, training toys (e.g., ball, bone, moving toy, etc.), an animatronics “trainer,” a treat dispenser, a food dispensing and monitoring device, a water dispensing and monitoring device, tracking devices, a dog door, dog-monitoring doghouse, a dog-monitoring dog toilet, is described. In one embodiment, the instrumented dog collar is in two-way communication with a central computer system.

REFERENCE TO RELATED APPLICATIONS

This application is a divisional of application Ser. No. 10/893,549,filed Jul. 15, 2004, titled “TRAINING, MANAGEMENT, AND/OR ENTERTAINMENTSYSTEM FOR CANINES, FELINES, OR OTHER ANIMALS,” the entire contents ofwhich is hereby incorporated by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to systems for computer-aided training andmanagement of dogs, cats, and other animals.

2. Description of the Related Art

Electronic dog training collars that provide warning sounds, followed bysome form of punishment for the purpose of training dogs not to engagein nuisance barking are well known. This type of system is activatedwhen a dog's barking sound is picked up from the dog's throat area by asound-sensing device located on a dog collar. Electronic dog trainingcollars that provide warning sounds, followed by some form of punishmentfor the purpose of training dogs to stay within an established area arealso well known. This type of system is activated when a radio receiverin the collar picks up a signal transmitted through a buried wireantenna. This type of training device does not provide a method forallowing the dog to return to within the established area in the eventit escapes, without receiving correction. Another type of electronic dogtraining collar provides warning sounds, then some form of punishmentwhen behavioral problems are visually detected by the dog trainer whoactivates a radio transmitter contained within a handheld enclosure.This signal, in turn, is received by a dog collar and the correctionsequence is initiated. Some training collars of this type have a tiltswitch which senses whether a dog is moving or standing still(pointing).

These and other prior art systems are limited in capability and areprimarily designed to correct specific unwanted behaviors. Such systemsare geared towards giving the dog a negative stimulus (punishment) whenthe unwanted behavior occurs. The prior art systems, aside from keepingthe dog in the yard, are not concerned with protecting the happiness,health and well-being of the dog (or other animal). Moreover, it is wellknown that punishment training is a poor method of training and oftenleads to behavioral problems. Dogs have an innate desire to please, andthus the best trainers know to base the training on reward andencouragement, and to use punishment sparingly.

SUMMARY

These and other problems are solved by a computer-aided training andmanagement system that uses a computer or other processor in wirelesscommunication with an instrumented dog collar and/or optionally, one ormore dog interaction devices, such as, for example, video monitors,loudspeakers, video cameras, training toys (e.g., ball, bone, movingtoy, etc.), an animatronics “trainer,” a treat dispenser, a fooddispensing and monitoring device, a water dispensing and monitoringdevice, tracking devices, a dog door, dog-monitoring doghouse, adog-monitoring dog toilet, etc. In one embodiment, an instrumented dogcollar is in two-way communication with a central computer system.

In one embodiment, a video device (or devices) and/or loudspeakers areused to provide training commands. The dog collar and/or one or moretraining toys, video monitors, etc. are fitted with wirelessinstrumentation to provide feedback regarding the dog's response to thetraining commands. In one embodiment, a computer-controlled treatdispenser is used to reward the dog. The training system can be used toentertain the dog, to train the dog to perform specific tasks, to trainbehaviors, and/or to increase the dog's vocabulary.

In one embodiment, a food dispensing and monitoring device and/or awater dispensing and monitoring device are provide to feed the dog andto monitor the dog's health and well-being by measuring the dogs intakeof food and water. In one embodiment, tracking devices such, as forexample, Infrared Red (IR) location, acoustic location, Radio Frequency(RF) location, GPS location, and/or inertial motion tracking are used todetermine the dog's location. In one embodiment, the management systemcontrols a “dog door” to allow the dog ingress and egress into a houseor other structure.

In one embodiment, a wireless dog collar communicates with a RadioFrequency Identification (RFID) tag implanted in the dog and relaysinformation from the RFID tag to the computer monitoring system. In oneembodiment the RFID tag includes a temperature sensor to allow themonitoring system to monitor the dog's temperature. In one embodimentthe RFID tag includes one or more biometric sensors to measure the dog'shealth and well-being, such as for example, temperature, blood pressure,pulse, respiration, etc.

In one embodiment, the animal management system includes a computersystem provided to a first wireless communication transceiver and ananimal collar provided to a second wireless communication transceiver.The animal collar has an identification code and is configured tocommunicate with the computer system using two-way handshakingcommunication such that the computer system can send commands to theanimal collar and receive acknowledgement of the commands from theanimal collar. The animal collar can send data to the computer systemand receive acknowledgement from the computer system according to theidentification code. The computer system is configured to send commandsto the animal collar and to receive data from the animal collar relatedto one or more actions of a animal wearing the animal collar. Thecomputer system is configured to keep records of at least a portion ofthe animal's actions.

In one embodiment, the animal collar includes at least one of, anacoustic input device, an acoustic output device, a vibrator device, anodor output device an infrared receiver, an infrared transmitter, anRFID tag reader, a GPS receiver, an inertial motion unit (e.g.,accelerometers or gyroscopes).

In one embodiment, the animal management system includes at least oneof, an RF location system, a computer-controlled treat dispenser, acomputer-controlled water dispenser, a computer-controlled fooddispenser, computer-controlled animal toilet, a computer-controlledanimal house, a video monitor. In one embodiment, the animal managementsystem includes at least one animal toy configured to wirelesslycommunicate with the computer system. In one embodiment, the wirelesstoy includes at least one of, a light, an acoustic input device, anacoustic output device, a touch (or usage) sensor, a motion sensor, alocation tracking system.

In one embodiment, the animal management system includes one or morelocation system units disposed about an area, such as, for example, ahouse, barn, yard, ranch, etc. In one embodiment, the location systemunits use infrared radiation for location and tracking of the animalcollar. In one embodiment, the location system units use acoustic wavesfor location and tracking of the animal collar. In one embodiment, thelocation system units use electromagnetic waves for location andtracking of the animal collar. In one embodiment, the location systemunits are also configured to operate as motion detectors for a homesecurity system.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows various elements of a dog training and management system.

FIG. 2 is a block diagram of the dog collar.

FIG. 3 is a block diagram of the dog collar from FIG. 2 with theaddition of location finding systems and a second RF transceiver forcommunicating with an RFID tag.

FIG. 4 is a block diagram of a dog toy.

FIG. 5 is a block diagram of the treat dispenser.

FIG. 6A shows a remote control for controlling the functions of thetraining and management system and for displaying data from the trainingand management system.

FIG. 6B is a block diagram of the remote control.

FIG. 7 is a block diagram of the dog house system

FIG. 8A is a diagram of the food dispenser.

FIG. 8B is a block diagram of the food dispenser.

FIG. 9 is a block diagram of the water dispenser.

FIG. 10 is a diagram of one embodiment of the dog toilet.

FIG. 11 is a block diagram of a repeater unit.

FIG. 12 is a block diagram of the base unit.

FIG. 13 is a block diagram of a ball tossing unit used to play “fetch”with the dog.

FIG. 14 is a architectural-type drawing of the floor plan of a portionof a house showing examples of placement of locations sensors to sensethe movement of the dog around the house.

DETAILED DESCRIPTION

FIG. 1 shows various elements of a dog training and management system100 for managing a pet or animal such as a dog 101. For purposes ofexplanation, and not by way of limitation, the system 100 is describedherein as a training system and a dog management system. One of ordinaryskill in the art will recognize that various aspects of the system 100can also be used for cats, other pets, farm animals, livestock, zooanimals, etc. The system 100 includes a computer system 103 to controlthe system 100 and, to collect data, and to provide data for theowner/trainer. The system typically includes a wireless collar 102 and awireless base unit 104. The base unit 104 is provided to the computer103 and allows the computer 103 to communicate with the collar 102. Inone embodiment, the collar 102 communicates with a Radio Frequency ID(RFID) tag embedded in the dog 101. The RFID tag provides anidentification code to identify the dog 101. The collar 102 reads theRFID tag and relays the information from the RFID tag to the computer103. In one embodiment, the RFID tag includes one or more biometricsensors to allow the computer 103 to monitor the health and condition ofthe dog 101. In one embodiment the RFID tag includes a temperaturesensor to allow the monitoring system to monitor the dog's temperature.In one embodiment the RFID tag includes one or more biometric sensors tomeasure the dog's health and well-being, such as for example,temperature, blood pressure, pulse, respiration, blood oxygenation, etc.

The system 100 can also include one or more of the following optionaldevices: one or more video monitors 105, one or more loudspeakers 107,one or more video cameras 106, one or more RF training toys (e.g., aball 114, a bone 116, a moving toy 115, etc.), an animatronics “trainer”123, and a treat dispenser 122. The system 100 can further include oneor more of the following optional devices: a remote control/display 112for displaying the dog's location, a food dispensing and monitoringdevice 121, a water dispensing and monitoring device 120, one or moresystems for locating the dog, one or more RF repeaters 113, one or moredog-door controllers 111, a dog-monitoring doghouse 119, adog-monitoring dog toilet 117, and ambient condition sensors (e.g.,rain, wind, temperature, daylight, etc.) 129. In one embodiment, theambient condition sensors are wireless sensors that communicatewirelessly with the computer system 103.

In one embodiment, the system 100 can be used as a computerized trainingsystem for training the dog 101. During training, the system 100provides training commands or instructions to the dog 101. Audiocommands can be provide through the loudspeakers 107, through aloudspeaker in the collar 102, and/or through audio devices (e.g.,loudspeakers, buzzers, etc.) in the dog toys 114-116. Visual commandscan be provided by the monitor 105, by an animatronics trainer 123,and/or by visual display devices (e.g., lights in the toys 114-116,lights on the toilet 117, dog house 119, dispensers 121-122) etc. Thedog tracking system described below can be used to provide correctivecommands when the dog 101 is not performing correctly and/or to provideencouragement then the dog 101 is performing correctly.

In one embodiment, a modem 130 is provided for making connections withthe telephone system, to allow the system 100 to communicate with anowner/trainer through cellular telephone, text messaging, pager, etc. Anetwork connection 108 (e.g., an Internet connection, local area networkconnection, wide area network connection, etc.) is provided to allow theowner/trainer to communicate with the system 100 and to allow the system100 to receive updated software, updated training regimens, etc.

In one embodiment, the collar 102 provides positive reinforcement (e.g.,clicker sounds, “good dog” sounds, pleasing sounds, pleasing smells,treats, etc.) and/or negative reinforcement commands (e.g., unpleasantsounds, electric shock, unpleasant vibration, unpleasant smells, etc.)

The dog toys provide touch and/or motion feedback to the training system100. The training system 100 delivers a treat to the dog using the treatdispenser 122 when it receives confirmation that the dog has properlyperformed the command. In one embodiment, an Inertial Motion Unit (IMU)in the dog collar 102 and/or the video cameras 106 are be used todetermine when the dog performs a desired action (e.g., sit, roll over,lie down, retrieve a toy, etc.). A location system described below canbe used to keep the dog in a desired area and out of “off limits” areas.In one embodiment, the location system uses multiple inputs to determinethe dog's location.

In one embodiment, the dog toys 114-116 are adapted to specializedtraining such as, for example, bomb-sniffing, drug-sniffing, etc.

In one embodiment, the animatronics trainer 123 is configured to smelllike a human (e.g., by placing clothes warn by the owner/trainer on theanimatronics trainer). In one embodiment, the animatronics trainer 123is configured to speak to the dog. In one embodiment, the animatronicstrainer 123 is configured to provide treats to the dog. In oneembodiment, the animatronics trainer 123 is mobile and is configured towalk the dog. In one embodiment, the animatronics trainer 123 isconfigured to be used the teach the dog to heel.

In one embodiment, the system 100 uses the sensors 129 to detect fire orsmoke. In one embodiment, the system 100 receives alarm data from a homealarm system. In one embodiment, the microphone 204 is used to detect afire alarm. When the system 100 detects a fire or smoke alarm, thesystem 100 can open the dog door 111, instruct the dog to leave, closethe dog door 111 after the dog has left, and notify the owner/trainer.The owner/trainer can be notified by using the loudspeakers 107, bytelephone, pager, and/or text messaging using the modem 130 to connectwith the telephone system, and/or by using the network connection 108(e.g., email instant messaging, etc.). The modem 130 is configured toplace a telephone call and then communicate with the owner using data(e.g., in the case of text messaging) and/or synthesized voice. Themodem 130 can also be used by the owner/trainer 130 to contact thecomputer system 103 and control the system 100 using voice recognitioncommands and/or data.

In one embodiment, the system 100 uses the video cameras 106 to recordvideos of the dog's training. These videos can be played back for theowner/trainer to help the owner/trainer understand how the training isprogressing and to spot problems.

For example, the system 100 can be used, for example, to train the dog101 to understand one or more of the following commands/actions:

A. General Commands

-   -   Sit-Stay    -   Come Here (or Come, or Here)    -   Down-Stay    -   Heel    -   Stand-Stay    -   Stand    -   Don't Growl    -   Stand Here/Stand By Me    -   Lie Down    -   Up    -   Down    -   Shake Hands    -   Roll Over    -   No Paw    -   Slow-Time (walking command)    -   Fast-Time (walking command)    -   Take-Time (walking command-Slow Down)    -   Catch/Fetch    -   Speak/Bark    -   Retrieve    -   Eat Food    -   Don't Do That    -   No    -   Go Ahead    -   O.K.    -   Track    -   Go Out    -   Let Go    -   Look Back    -   Get Out    -   Kennel/Crate (‘Go to the kennel, etc.’)    -   Bad Dog    -   Come Back    -   Get Ball    -   Nice Dog    -   Good Dog/Nice Dog    -   Quiet    -   Go To Sleep    -   Walk/Go For A Walk    -   Run    -   Let's Play    -   Put That Down    -   Don't Shake Hands    -   Stop Barking    -   Don't Go Out/Don't Go Outside/Don't Go Out Door    -   T.V. (e.g., stop the dog from barking at the TV or the doorbell)    -   Go To The Corner    -   Leave It/Drop It

B. Military/Police-Type Commands

-   -   Search    -   Bite    -   Hold    -   Jump    -   Track    -   Blind Search    -   Guard    -   Go Ahead    -   Let Go    -   Stop/Halt    -   Article Search (A command for the dog to search for    -   contraband or other illegal items at an airport or another        facility)    -   Go Inside    -   Go Outside    -   Don't Do That    -   Stand    -   Speak/Bark    -   Attack

C. Situations in which control of the dog's behavior must be altered:

-   -   Remain In Yard/Stay In The Yard (or similar area)    -   Housebreaking    -   Inappropriate Dominant Behavior    -   Staying Off The Furniture    -   Staying Off Guests/Don't Jump On Guests/Don't Bother Guests    -   Eliminate Chewing Furniture    -   Stop Inappropriate Barking    -   Stay Out Of The Trash Cans    -   Get The Newspaper    -   Get Bedroom Slippers    -   Don't Defecate/Urinate In House    -   Eliminate Chewing Of Household Items    -   Do Not Exhibit Aggressive Behavior Toward Visitors    -   Don't Chase Cars or Other Moving Objects    -   Eliminate Nipping/Snapping Behaviors    -   Eliminate Or Prevent Excessive Fear Reactions or ‘Paranoia’ in        the dog.    -   Eliminate Negative Behaviors Such As Excessive, Unfounded        Whining, Whimpering, or Vocalizing Other Similar Sounds    -   In Inappropriate Situations    -   Eliminate Uncontrolled (and sometimes destructive)        Over-energetic Or Separation Anxiety-Related Behaviors

The above lists are not exhaustive, but are intended to illustrate typesof training that the system 100 can provide. The dog's response tocommands is monitored by the system 100 by using data from the collar102, from the toys and other devices 114-123, and/or by video processingof from the one or more video cameras 106. In addition, the dog'sresponse to commands can be determined by the owner/trainer in real timeand by watching video obtained by the one or more video cameras 106. Thesystem 100 can be used to train the dog to obey new commands and/or toreinforce commands the dog already understands. In one embodiment, atrainer works with the dog 101 and the system 100 to get the dogaccustomed to the system 100 and to give the dog a starting vocabularyof basic commands (e.g. sit, stop, get the lighted toy, etc.) and thenthe system 100 can be used to reinforce the basic commands and to teachthe dog new commands.

FIG. 2 is a block diagram of the collar 102. In the collar 102, a soundsensing device (e.g., a microphone) 204, a vibration device 205, a soundproducing device (e.g., a loudspeaker) 206, an electric shock device207, and a first RF transceiver 202 are provided to a processor 201. Thesound sensing device is configured to sense sound waves (sonic and/orultrasonic) such as, for example, a microphone, a transducer, etc. Forconvenience, and without limitation, the sound sensing device isreferred to herein as a microphone with the understanding that otheracoustic transducers can be used as well. For convenience, and withoutlimitation, the sound producing device is referred to herein as aloudspeaker with the understanding that the sound producing device isconfigured to produce sound waves (sonic and/or ultrasonic) such as, forexample, a loudspeaker, a transducer, a buzzer, a clicker, etc. A powersource 203 provides power for powering the microphone 204, the vibrationdevice 205, the loudspeaker 206 and the electric shock device 207, thefirst RF transceiver 202 and the processor 201. In one embodiment, eachof the microphone 204, the vibration device 205, the loudspeaker 206 andthe electric shock device 207 are optional and can be omitted. Thecollar 102 can also include an odor/treat dispensing device 210 forproviding pleasant smells, treats, and/or unpleasant smells so the dog101. The collar 102 can also include a light (not shown) for providingvisual indications to the dog 101, to the trainer, or to the videocameras 106. In one embodiment a tamper sensor 230 is also provided.

The microphone 204 is used to pick up sound waves such as, for example,sounds produced by the dog 101, sounds produced by other dogs, and/oracoustic waves produced by an acoustic location device (sonic orultrasonic), etc. The processor 201 processes the sounds picked up bythe microphone and, if needed, sends processed data to the computersystem 103 for further processing. The loudspeaker 206 is used toproduce pleasant and/or unpleasant sounds for the dog 101 and to providecommands to the dog 101. The microphone 204 and/or loudspeaker 206 canalso be used in connection with an acoustic location system to locatethe dog using acoustic waves. In an acoustic location system, themicrophone 204 and/or loudspeaker 206 communicate acoustically withacoustic sources or sensors placed about the house or yard to locate thedog 101.

The vibrator is used to produce pleasant and/or unpleasant vibrations tothe dog 101. The electric shock device 207 is used to provide correctiveshocks to the dog 101. In one embodiment, the shock device 207 canprovide a range of shocks from relatively mild to relatively harsh. Inone embodiment, the computer system 103 instructs the processor 201 tocontrol the electric shock device 207 to deliver a desired shockintensity.

The optional tamper sensor 230 senses when the collar has been tamperedwith (e.g., removed from the dog). In one embodiment, the optionaldispenser 210 dispenses odors such as pleasant and/or pleasant odors tothe dog 101. In one embodiment, the optional dispenser 210 dispensestreats for the dog 101.

The first RF transceiver 202 communicates with the base unit 104 eitherdirectly or through the repeaters 113. In one embodiment, the RFtransceiver 202 provides two-way communications such that the collar 102can send information to the computer system 103 and receive commandsfrom the computer system 103. In one embodiment, the computer system 103and the first RF transceiver 202 communicate using a handshake protocol,to verify that data is received.

FIG. 3 is a block diagram of the dog collar 102 from FIG. 2 with theaddition of location finding systems and a second RF transceiver 309 forcommunicating with an RFID tag 310 imbedded in the dog 101. In FIG. 3,the collar 102 includes one or more location and tracking systems, suchas, for example, an IR system 301, a GPS location system 302, an IMU 303and/or a third RF transceiver 304. The tracking systems can be usedalone or in combination to ascertain the location of the dog. The IRsystem 301, the GPS location system 302, the IMU 303, and the third RFtransceiver 304 are provided to the processor 201 and powered by thepower source 203. The processor 201 controls operation of the IR system301, the GPS location system 302, the IMU 303, and the third RFtransceiver and controls when the power source delivers power to the IRsystem 301, the GPS location system 302 and the IMU 303. The firstsecond and third RF transceivers are separated in FIG. 3 for purposes ofdescription, and not by way of limitation. In one embodiment, the firstRF transceiver 202, and/or the second RF transceiver 309 and/or thethird RF transceiver 304 are combined into one or more transceivers. Inone embodiment, the first RF transceiver 202, and/or the second RFtransceiver 309 and/or the third RF transceiver 304 operate at differentfrequencies.

The second RF transceiver 309 communicates with the RFID tag 310 toobtain information (e.g., identification, temperature, pulse rate,biometric information, etc.) from the RFID tag 310.

In one embodiment, the third RF transceiver 304 is a receive-only devicethat receives radio location signals from one or more radio locationtransmitters as part of a radio location system. In an alternativeembodiment, the third RF transceiver 304 is a transmit-only device thattransmits radio location signals to one or more radio location receiversas part of a radio location system. In an alternative embodiment, thethird RF transceiver 304 transmits radio location signals to andreceives radio location signals from one or more radio locationtransceivers as part of a radio location system. Techniques for radiolocation systems such as, for example, GPS, DECCA, LORAN, etc. are knownin the art. Data from the radio location system is provided to thecomputer system 103 to allow the computer system 103 to determine thelocation of the collar 102. In one embodiment, radio location isprovided by measuring a strength of a signal transmitted by the collar102 and received by one or more repeaters 113 to estimate distancebetween the repeaters and the collar 102. In one embodiment, radiolocation is provided by measuring a strength of signals transmitted byone or more repeaters 113 and received by the collar 102 to estimatedistance between the repeaters and the collar 102. In one embodiment, atime delay corresponding to radio frequency propagation between therepeaters 113 and the collar 102 is used to estimate the location of thecollar 102.

The various location systems have benefits and drawbacks. In oneembodiment, the system 100 uses a combination of one or more of a GPSsystem, an IMU, a radio-location system, an IR system, and an acousticsystem, to locate the dog 101. One or more of these systems are usedsynergistically to locate the dog 101 and to reduce the power consumedin the collar 102 by the location process.

The IMU 303 uses one or more accelerometers and/or gyroscopes to sensemotion of the collar. The motion can be integrated to determinelocation. The IMU 303 provides relatively low power requirements andrelatively high short-term accuracy. The IMU provides relatively lowerlong-term accuracy. An Inertial Motion Units (IMU) unit will workindoors or out, and typically consumes less power than other locationsystems. However, IMU systems are prone to drift over time and tend toloose accuracy if not recalibrated at regular intervals. In oneembodiment is recalibrated from time to time by using data from one ormore of the GPS, acoustic, IR, and/or RF location systems. In oneembodiment the IMU 303 is used to reduce power requirements for the GPS,IR, and/or RF location systems. In one embodiment, the GPS, IR, and/orRF location systems are placed in a low-power or standby mode when theIMU 303 senses that the collar 102 is motionless or relativelymotionless. If the IMU 303 senses that the collar 102 is relativelymotionless (e.g., motionless or moving at a relatively low velocity)then the dog is either not moving or is moving slowly enough thattracking is not immediately needed. In one embodiment, the IMU 303 is a3-axis system and thus motion of the collar 102 in any direction issensed as motion and can be used to activate one or more of the othersensing systems. Thus, for example, if the dog has been lying down andthen stands up, the “up” motion will be sensed by the IMU 303 and thecollar will activate one or more tracking systems.

In one embodiment, the system 100 assumes that the dog 101 will not moveat a relatively constant and relatively low velocity for any significantlength of time. Thus, in one embodiment, the IMU self-calibrates to aconstant offset error (e.g. a constant slope in the X, Y or Z direction)and a deviation from that constant X, Y offset error (e.g., a change inslope) is recognized as a movement by the dog 101.

In one embodiment the IMU 303 is at least a 2-axis IMU that sensesmotion in at least two directions. In one embodiment the IMU 303 is atleast a 3-axis IMU that senses motion in at least three directions. Inone embodiment, the IMU 303 provides data to determine that the dog 101has rolled over, jumped, etc. In one embodiment, the IMU provides dataused to determine the gait of the dog 101, such as, for example,running, walking, going up stairs, going down stairs, trotting, limping,etc. In one embodiment, the IMU provides data used to determine headmotions of the dog 101, such as, for example, barking, retching, etc. Inone embodiment, data from the IMU is used in connection with signalprocessing of audio signals from a microphone in the collar 102 todetermine if the dog 101 is barking, retching, whimpering, drinking,choking, whining, etc.

For training, the IMU can be used alone or in combination with othertracking devices to obtain feedback on the motion of the dog 101. Thus,for example, if the dog 101 is commanded to pick up the ball 114, andthe IMU senses that the dog 101 is moving towards the ball 114, then thesystem 100 can provide positive feedback to the dog.

The IMU 303 can measure both dynamic acceleration as well as staticacceleration forces, including acceleration due to gravity, so the IMU303 can be used to measure tilt as well as horizontal and verticalmotion. When the IMU 303 is oriented so both the X and Y axes areparallel to the earth's surface it can be used as a two axis tilt sensorwith a roll and pitch axis. Ninety degrees of roll would indicate thatthe dog 101 is lying on its side. In addition, when the IMU 303indicates no movement at all, regardless of the orientation of the dog101, the dog is asleep or inactive and the system is powered down, asdescribed above. Thus, the IMU 303 can detect when the dog is notstanding.

With regard to digging movements of the dog 101, the IMU 303 can detectforward motion (dynamic motion) or lack of forward motion of the dog, inaddition to tilt. If the IMU 303 detects that the dog's forward motionhas stopped and a motion perpendicular to the main axis of the dogcontinues, the dog is digging. If this criteria is used in conjunctionwith IMU 303 recognition of a downward tilt toward the front of thedog's body, the digging motion is likely. Digging detection can bedisabled automatically when the dog is laying down, rolling over, etc.With regard to jumping, the IMU 303 can be used to detect a movementessentially straight up, or up and slightly rearward, the dog is jumpingup.

The microphone 204 is used to listen to the dog for barking, whimpering,cries of distress or pain, retching, etc. The IMU 303 (if provided) canbe used in connection with the microphone 204 to help detect barking,retching, etc. and other sounds where a head movement is associated withthe sound. In one embodiment, to reduce power consumption, the collar102 performs a preliminary acoustic analysis and forwards suspiciousresults to the computer system 103 for more detailed processing. Themicrophone 204 can also be used with an optional ultrasonic (oracoustic) location system.

The collar 102 sends low-battery warnings to the computer system 103 toalert the owner/trainer that the collar 102 needs fresh batteries.

The loudspeaker 206 is used to provide training commands such as forexample, spoken commands, positive reinforcement sounds (e.g. clickersounds, “good dog” phrases, etc.), negative reinforcement sounds (e.g.,unpleasant sounds), etc. The vibrator 205 can be used for varying levelsof relatively mild negative reinforcement during training. The electricshock generator 207 can be used for mild to strong negativereinforcement.

The Global Positioning System (GPS) is accurate but often does not workwell indoors, and sometimes does not have enough vertical accuracy todistinguish between floors of a building. GPS receivers also require acertain amount of signal processing and such processing consumes power.In a limited-power device such as the dog collar 102, the power consumedby a GPS system can reduce battery life. However, GPS has the advantageof being able to operate over a large area and is thus particularlyuseful when locating a dog that has escaped a confined area or is out ofthe range of other locating systems.

In one embodiment, the GPS system 302 operates in a standby mode andactivates at regular intervals or when instructed to activate. The GPSsystem can be instructed by the computer 103 or the collar to activate.When activated, the GPS system obtains a position fix on the dog 101 (ifGPS satellite signals are available) and updates the IMU. In oneembodiment, a GPS system is also provided to the computer system 103.The computer system uses data from its GPS system to send locationand/or timing data to the GPS system 302 in the collar 102 allowing theGPS system 302 to warm start faster, obtain a fix more quickly, andtherefore use less power.

In one embodiment, location system units 118 are placed about a house orkennel to locate movement and location of the dog 101. In oneembodiment, location system units 118 send infrared light, acousticwaves, and/or electromagnetic waves to one or more sensors on the collar102 in order to conserve power in the collar 102. In one embodiment, thecollar 102 sends infrared light, acoustic waves, and/or electromagneticwaves to the location system units 118 in order to conserve power in theunits 118.

For example, location system units 118 placed near doorways or inhallways (see e.g., FIG. 14) can be used to determine when the dog 101moves from one room to another. Even if the dog cannot be exactlylocated within the room (e.g., due to blind spots), a location systemunit 118 placed to sense the movement of the dog though the doorwayallows the system 100 to know which room the dog is in by watching thedog 101 move from room to room.

In one embodiment, each location transmitter (whether in the collar 102or the location system units 118) sends a coded pattern of pulses toallow the transmitter to be identified. In one embodiment, in order toconserve power, the location receiver (whether in the collar 102 or thelocation system units 118) notifies the computer system 103 whenever thepattern of received pulses changes. Thus, for example, when the locationreceiver enters the range of a first location transmitter that transmitsa first code, the location receiver sends a “location sensor message” tothe computer system 103. In one embodiment, the location receiver doesnot send further location sensor messages so long as the locationreceiver continues to receive the pattern of pulses from the samelocation transmitter. In an alternate embodiment, the location receiversends location sensor messages to the computer system 103 on a periodicbasis so long as the location receiver continues to receive the patternof pulses from the same transmitter. The location receiver sends a“location sensor lost” message when the pattern of pulses stops.

Motion detectors inside and/or outside a house are commonly provided inconnection with home security systems. In one embodiment, the locationsystem units 118 are configured as motion detectors, and the IR system301 (e.g., transmitter and/or receiver) on the collar 102 communicateswith such IR motion detectors to avoid false alarms that would otherwiseoccur when the motion detector detects the movement of the dog. In oneembodiment, the collar transmits an IR signal that the motion detectorrecognizes as coming from the collar 102 and thus the motion detectorknows that the motion it is sensing is due to the dog and not anintruder. In one embodiment, when the collar 102 detects an IRtransmission from a motion detector, the collar transmits a response IRsignal that the motion detector recognizes. In one embodiment, the IRtracking system used by the system 100 is also used as part of a homesecurity system to track both the movement of the dog and othermovements in the house that are not due to the dog. Acoustic motiondetectors and/or microwave motion detectors can be used with the collar102 similarly to the IR motion detectors.

Unlike VHF radio-based systems (e.g., GPS or VHF radio-location systems,etc.), IR, acoustic, and/or millimeter wave and some microwave systemsdo not penetrate walls very effectively. Thus, an IR, acoustic, and/ormicrowave/millimeter wave system can be used in the system 100 to locatethe dog 101 without having a map of the house or kennel. Radio-basedsystems that operate at frequencies that penetrate walls can be used inconnection with a map of the house

In one embodiment, the IR system is replaced or augmented by a sonic orultrasonic system. In one embodiment, the operation of the sonic orultrasonic system is similar to that of the IR system except that thewaves are sound waves instead of infrared waves. In one embodiment, thefrequency of the sound waves used is above the frequency that can beheard by dogs or cats and thus does not disturb the animals. Althoughnot immune to blind spots, the sonic or ultrasonic system is typicallyless susceptible to blind spots than the infrared system.

In one embodiment, the sonic or ultrasonic system includes a rangingfunction similar to that of an RF system. In one embodiment, the rangingfunction uses a two-frequency phase comparison system to measuredistance from the sound transmitter to the sound receiver.

In one embodiment, the IR system 301 can be used to send IR signals tothe video cameras 106.

In one embodiment, the dog 101 is contained in the containment area by130 by a boundary wire antenna. The collar 102 receives encodedpseudo-random electromagnetic signals from the boundary wire antenna anda correction stimulus is applied when the dog 101 moves near to andthrough the containment wire antenna to the “outside” area. In oneembodiment, the collar 102 sends a warning message to the computersystem 103 when the dog 101 gets too near the boundary wire antenna. Ifthe dog moves outside the boundary area, the correction capability isdisabled by the computer system 103 to allow the dog reentry into thecontainment area, without receiving correction. The correctioncapability is then restored by the computer system 103.

In one embodiment, the boundary wire is configured as two or more wiresarranged as an inner wire (or wires) and an outer wire (or wires). Thecollar detects the transmissions from the two or more wires usingamplitude and/or phase comparisons to determine if the dog is closer tothe inner wire(s) and therefore inside the boundary, or closer to theouter wire(s) and therefore outside the boundary.

In one embodiment, the collar determines the strength of the containmentsignal to find out how close the dog 101 is to the containment fence. Ifthe signal strength falls within a warning range, a negative trainingstimulus (e.g., a shock, vibration, etc.) is provided to deter furthermovement in that direction. Should this fail and the containment signalgrows stronger, signaling a move closer towards the fence, then astronger negative stimulus is provided (e.g., a stronger shock). If thedog 101 chooses to ignore the warnings and moves over the containmentfence, then the change in phase of the containment signal indicates thatthe dog is outside the containment area

If the dog moves outside the range of the containment signal and outsidethe containment area, the collar provides a voice message (for example,“GO HOME!”) from the loudspeaker 206. If the dog 101 moves back towardsthe containment fence to return within the containment region 130 andthe containment signal is received by the collar 102, the collar 102sends a message to the computer system 103 that the dog is outside thecontainment area and moving in. This tells the computer system 103 tocancels the audible beep (or voice message) and suppresses any stimulusto allow the dog to return. When the dog returns within the containmentfence and within the allowed region, computer system 103 and collar 102resume normal operation.

In embodiment, the dog can be trained to remain within the containmentarea 130 using GPS. A GPS boundary 130 is configured the computer system103 and provided to the collar 102. The dog's position are obtainedseveral times per second. When the dog's location is too close to theedge of the boundary 130, the correction sequence is initiated.

When the dog moves towards or exits the boundary of the containment area130, the collar 102 performs the containment function as described abovewith various warnings and corrections. The GPS boundary can be used withor without a boundary wire. The IMU 303 can be used with intermittentupdates by the GPS system 303 as described above.

In one embodiment, the system 100 locates the dog periodically (e.g.,communicates with the collar 102) and alerts the owner/trainer if thedog cannot be found (e.g., if the system 100 cannot contact the collar102). In one embodiment, the system 100 locates the dog and alerts theowner/trainer if the dog has escaped or is in an area that is off-limitsto the dog.

In one embodiment, the system 100 is configured to keep two or more dogs(or cats) apart (e.g., to avoid fights or interference with play,training, etc.). In one embodiment, the system 100 uses the microphone204 to detect sounds corresponding to a dog (or cat) fight and appliescorrective punishment to stop the fight and prevent future fights.

FIG. 4 is a block diagram of a dog toy 400, such as, for example, thedog toys 114-116 shown in FIG. 1. In the toy 400, a sound sensing device(e.g., a microphone) 404, a vibration device 405, a sound producingdevice (e.g., a loudspeaker) 406, an electric shock device 407, a light408, a touch detector 409, a motion detector 413, and a first RFtransceiver 402 are provided to a processor 401. A sound sensing device(not shown) can also be provided to the processor 201. The soundproducing device is configured to produce sound waves (sonic and/orultrasonic) such as, for example, a loudspeaker, a transducer, a buzzer,a clicker, etc. For convenience, and without limitation, the soundproducing device 406 is referred to herein as a loudspeaker 406. A powersource 403 provides power for powering the vibration device 405, theloudspeaker 406 the electric shock device 407, the first RF transceiver402, the light 408, the touch detector 409, the motion detector 413, andthe processor 201. In one embodiment, each of the sound producing device(not shown), the vibration device 405, the loudspeaker 406 and theelectric shock device 407 are separately optional and each can beomitted depending on the desired system configuration. The toy 400 canalso include an odor dispensing device (not shown) for providingpleasant or unpleasant smells so the dog 101. The toy 400 can alsoinclude the light 408 for providing visual indications to the dog 101,to the trainer, or to the video cameras 106. The light 408 can beconfigured as one or more incandescent lights, one or more LEDs, one ormore strobe lights, etc. In one embodiment, the toy 400 also includesone or more location and tracking devices, such as, for example, the IRsystem 301, the GPS 302, the IMU 303, and or the third RF transceiver304 described in connection with FIG. 3. An optional motion actuator 402can be used to provide motion of a portion of the toy (e.g., to move astring for playing with a cat, a ball launcher for launching a ball fora dog to fetch, etc.) or to move the entire toy (e.g., to move the toyabout the room or yard as part of the dog's training or as part of agame to entertain the dog).

As part of a training system or game, the computer system 103 instructsthe dog 101 to get a selected toy. The computer system can use the light408 and/or the loudspeaker 406 to attract the attention of the dog 101.If the dog selects the right toy, then the touch sensor 409 and/or themotion detector 413 sense the dog's selection and the information iscommunicated back to the computer system 103. If the dog selects theright toy, then the computer system 103 can reward the dog. If the dogselects the wrong toy, then the computer system 103 can use the vibrator405, the electric shock device 407, or unpleasant sounds from theloudspeaker 406 to provide negative reinforcement to the dog 101. In oneembodiment, the computer system uses negative reinforcement judiciously,if at all, based on a training program that punishes the dog when thetraining program deems punishment is constructive. In one embodiment,the training program running on the computer system 103 learns thecharacteristics and temperament of the dog 101 and uses such knowledgein making a decision regarding punishment. In one embodiment, a trainerconfigures the computer system 103 to punish the dog 101 in variouscircumstances and to forego punishment in other circumstances. In oneembodiment, the computer system 103 reads the RFID tag 310 (though thecollar 102) to establish the identity of the dog 101 and to load theproper training parameters for the dog 101.

In one embodiment, the dog toys 114-116 include one or more obstaclecourse-type devices that allow the dog to jump through hoops, over bars,up ramps, etc. The computer 103 guides the dog through the obstaclecourse using lights and/or sounds provided on the obstacle coursedevices. In one embodiment, the system 100 uses the video system 106 totrack the dog through the obstacle course. In one embodiment, theobstacle course devices are provided with sensors 409 to register thepassage of the dog and the system tracks the dog through the obstaclecourse by the device sensors. In one embodiment, the obstacle courseincludes a hoop wherein the sensor 409 is configured as an opticalinterrupter that detects the passage of the dog through the hoop whenthe dog breaks an optical beam across the hoop.

The system 100 can run the dog through an obstacle course that includesseveral such obstacles by varying the course, speed through the course,etc. The system 100 can record the dog's ability to run the course, thedog's speed through the course, etc. by sensing as the dog passes overor through each obstacle.

In one embodiment, the elements of FIG. 4 are configured as a genericelectronics module that can be provided to dog toys provided by theowner/trainer.

In one embodiment, the system 100 can be used to communicate with thedog through phonetic sounds, such as, for example, through barkrecognition. The system 100 receives feedback regarding the dogsmovements, actions, and environments, and can thus learn various aspectsof the dog's behavior and vocabulary. In addition the system 100 caninteract with the dog to train the dog using a desired vocabulary or setof phonetic sounds. In one embodiment, the system 100 is configured torecognize sounds made by the dog (e.g., barking, whimpering, cries ofpain, choking sounds, etc.) the microphone in the collar 102 and thesignal processing capabilities in the collar 102 and in the processor130. This dog “speech recognition” system can base its discrimination onacoustic features, such as, for example, formant structure, pitch,loudness, spectral analysis, etc. When the computer recognizes themessage behind the sounds made by the dog, then the system 130 canrespond accordingly, either by providing a message to the owner/traineror by taking action in the dog's environment. Thus, for example, if thedog emits a cry of pain, a choking sound, or the like, the system 130will raise an alarm and attempt to contact the owner or trainer. In oneembodiment, the system 130 is provided with communications access (e.g.,Internet access, cellular telephone access, pager access, etc.) tocontact the owner/trainer. In an alternate example, if the dog makes asound indicating that it needs to be let out, then the system 130 canrelease a latch on the dog door 111.

In one embodiment, the system 100 recognizes the speech of dog 101 andthus if a strange dog or other animal enters the area and makes sounds,the system 100 can recognize that a strange dog or other animal is inthe area and take appropriate action (e.g., lock the dog door 111,notify the owner/trainer, etc.)

Communicating commands or instructions to a dog typically involvetraining because dogs do not instinctively understand human language. Inone embodiment, the system 100 trains the dog 101 using human speechcommands, thus allowing the owner/trainer to easily interact with thedog 101. In one embodiment, the system 100 also communicates with thedog 101 using sounds (e.g., bark-like sounds) that are more similar to adog's instincts. Thus, in one embodiment, the system 100 produces sounds(e.g., barking sounds, etc.) that a dog will understand more easily thanhuman speech.

In one embodiment, the system 100 cares for the dog's well being whenthe owner/trainer is away, asleep, or otherwise occupied. Thus, forexample, if the dog 101 makes a sound and/or motions indicating that itis bored, or wants to play, the system 100 will initiate a game with thedog. In one embodiment, one or more of the toys 114-116 areself-propelled (or can throw a ball) and the system 100 can play gamessuch as “fetch” with the dog 101. During the game, the dog is rewardedby pleasing sounds, encouraging comments, treats from the treatdispenser 122 etc. Several videos are currently available forentertaining dogs, but playing such videos requires manual interactionby the owner/trainer. In one embodiment, the audio-video display system(105,107) is used to play videos of other dogs playing, and thusentertaining and holding the dog's attention. In one embodiment, thesystem 100 plays a video when the dog indicates that is it bored orwants to play.

In one embodiment, the system 100 uses the sensors 129 to monitorambient conditions such as, for example, indoor temperature, outdoortemperature, rain, humidity, precipitation, daylight, etc. Uses theinformation to look after the dogs well being. Thus for example, if thesystem 100 determines that is it raining or too hot outside, the system100 can call the dog inside (using, for example, the loudspeaker on thecollar 102) and latch the dog door 111. Using the daylight sensor and/ortime of day available from the computer 103, the system 100 can be usedto manage the dog differently depending on whether it is light or darkoutside, morning or evening, etc. Thus for example, the system 100 canbe instructed to allow the dog more leeway for barking during the daythan during the night. For example, in one embodiment, if the system 100senses that the dog is barking during the day, the system can use mildcorrection to stop the barking. By contrast, if the system senses thatthe dog is barking at night, then the system can instruct the dog to goinside and/or apply relatively stronger correction.

FIG. 6 is a block diagram of the remote control 112 for controlling thesystem 100 and for receiving information from the system 100. The remotecontrol 112 includes a microphone 604, a loudspeaker 606, a keyboard (orkeypad) 612, a display 613, and a first RF transceiver 602, all providedto a processor 601.

The remote control 112 communicates with the computer system 103 usingthe RF transceiver 602 to receive status information and to sendcommands to the system 100. Using the remote control 112, theowner/trainer can check on the location, health, and status of the dog101. The owner/trainer can also use the remote control 112 to sendcommands to the system 100 and to the dog 101. For, example, using themicrophone 604, the owner/trainer can speak to the dog 101. In oneembodiment, the computer system 103 sends display information to thedisplay 613 to show the location of the dog 101. If the location of thedog cannot be ascertained, the system 100 can send a “dog not found”message and attempt to contact the owner/trainer using the networkconnection 108, the modem 130, and/or the remote control 112. If thesystem 100 determines that the dog has escaped, the system 100 can senda “dog lost” message and attempt to contact the owner/trainer using thenetwork connection 108, the modem 130, and/or the remote control 112.

FIG. 7 is a block diagram of the dog house system 119 that includes amicrophone 704, a loudspeaker 706, an IR sensor 701, a temperaturesensor 710, a ventilation fan 711, a video monitor 713, a first RFtransceiver 702, a second RF transceiver 709, and a video camera 717,all provided to a processor 701. The microphone 704, the loudspeaker706, the IR sensor 701, the temperature sensor 710, the ventilation fan711, the video monitor 713, the first RF transceiver 702, the second RFtransceiver 709, and the video camera 717 are separately optional itemsand each can be omitted depending on the configuration and capabilitiesdesired in the dog house system 119.

The dog house 119 includes many of the functions of the collar 102.Typically, the dog house 119 has more power available than the collar102. Thus, the dog house 119 can take over many of the function of thecollar 102 when the dog 101 is inside or near the dog house 119. Forexample, the dog house 119 can interrogate the dog's RFID chip 310, canprovide communications to the computer system 103, can listen forbarking or other sounds, etc. Thus in one embodiment, the computersystem 103 selectively instructs the processor 201 to disable (e.g.,power down) functions of the collar 102 that can be handled by the doghouse 119. Other functions, such as using the IMU 303 to detect headmovements of the dog that cannot be handled by the dog house 119 remainactive. In one embodiment, the video camera 717 is used in connectionwith video signal processing and image recognition to replace some orall of the functions of the IMU for tracking the dog 101 or sensing headmovements while the dog 101 is in the doghouse 119.

The video monitor 713 can be used to provide visual commands to the dog.The video camera 717 can be used to provide a video feed (e.g., regularscan video, slow scan video, single frame video, etc.) to the owner ortrainer thereby allowing the owner to keep watch over the dog 101 from aremote location on the remote control 112. In one embodiment, one ormore audio/video systems (e.g., video monitors and loudspeakers) areprovided with wireless receivers and provided throughout the house oryard to provide audio/visual commands to the dog. One or more videocameras can be used to provide a video feed (e.g., regular scan video,slow scan video, single frame video, etc.) to the owner or trainerthereby allowing the owner to keep watch over the dog 101 from a remotelocation on the remote control 112.

The temperature sensor 710 is used to monitor the temperature of the doghouse 119. The fan 711 provides ventilation when the temperature in thedoghouse 119 gets too warm. The fan can be controlled locally by theprocessor 701 or remotely by the computer system 103 by sending commandsto the processor 701. The door latch 712 allows the monitoring system100 to lock the dog 101 inside or out of the dog house as desired.

In one embodiment, the RF transceiver 702 provides a repeater functionfor the dog collar 102. When the dog 101 is inside the doghouse 119, theRF transceiver is in relatively close proximity to the RF transceiver202 in the collar, and thus the RF transceiver 202 can be operated inlow-power mode to conserve power in the collar 102.

FIG. 5 is a block diagram of the treat dispenser 122. In the dispenser122, a first RF transceiver 502, a treat sensor 503, a low-supply sensor510, and a gate 504 are provided to a processor 501. On command from thecomputer system 103, the processor 501 controls the gate 504 to releasea treat (or medicine, vitamin, etc.) from a reservoir 508. The sensor503 senses when the dog 101 has retrieved the treat. The low-supplysensor 510 senses when the supply of treats is running low. When thesupply of treats is running low, the computer system 103 alerts thetrainer or owner. In one embodiment, if the supply is not replenished,then the computer system changes its algorithm to reduce the number oftreats given and thereby extend the supply of treats. An optionalsignaling device 511 (e.g., a light and/or audio output device) is alsoprovided to the processor 501 to allow the computer system 103 to signalto the dog 101 that a treat is available. In multiple-dog environments,the sensor 505 includes a short-range RFID sensor to detect which dogretrieved the treat (or medicine, vitamin, etc.).

In one embodiment, the treat dispenser 112 is built into theanimatronics trainer 123 so that the dog will perceive the animatronicstrainer 123 as the source of the treats.

FIG. 8A is a diagram of the food dispenser 121, and FIG. 8B is a blockdiagram of the food dispenser 121. In the food dispenser 121, a first RFtransceiver 802, a food bowl sensor 803, a low-supply sensor 810, and agate 804 are provided to a processor 801. On command from the computersystem 103, the processor 801 controls the gate 804 to release food froma reservoir 808 into a bowl 820. The sensor 803 senses the amount offood in the bowl 820. As the dog 101 eats the food, the sensor 803senses the lowered level of food in the bowl and the processor 801reports the food consumption back to the computer system 103. Thelow-supply sensor 810 senses when the supply of food in the reservoir808 is running low and reports the low-food condition back to thecentral processor 103 In multiple-dog environments, the sensor 803includes a short-range RFID sensor to detect which dog retrieved thetreat.

The food dispenser 121 allows the computer system 103 to track the dog'sfood consumption and consumption patterns (e.g., time of day, amount perfeeding, etc.). The system 103 can count calories for the dog 101 makesure that the dog is not overeating or under-eating. In one embodiment,food is delivered in measured amounts at specified times.

In one embodiment, the sensor 803 includes a scale that is used tomeasure the amount of food that goes into and out of the bowl bymeasuring the weigh of food into and out of the bowl.

In one embodiment, the food dispenser 121 can be configured to deliverdifferent types of food for different dogs. (e.g., puppy food, dietfood, old-dog food, etc.). The system 100 dispenses the proper type andamount of food depending on which dog is at the food dispenser.

FIG. 9 is a block diagram of the water dispenser 120. In the waterdispenser 120, a first RF transceiver 902, a water level sensor 903, awater temperature sensor 913, a low-supply sensor 910, and a valve 904are provided to a processor 901. On command from the computer system103, the processor 901 controls the valve 904 to release water from awater supply 908 into a bowl 920. The water supply 908 can be a waterreservoir, a plumbing connection, a garden hose connection, etc. In oneembodiment, a pressure reducer is provided to reduce the pressure of thewater supplied to the valve 904. The sensor 903 senses the amount ofwater in the bowl 920. As the dog 101 drinks the water, the sensor 903senses the lowered level of water in the bowl and the processor 901reports the water consumption back to the computer system 103. If thewater supply 908 is provided by a reservoir, then a low-supply sensor910 senses when the supply of water in the reservoir 908 is running lowand reports the low-water condition back to the central processor 103The temperature sensor 913 is used to detect the temperature of thewater in the bowl 920. In multiple-dog environments, a short-range RFIDsensor 914 is provided to detect which dog is drinking.

The water dispenser 120 allows the computer system 103 to track thedog's water consumption and consumption patterns (e.g., time of day,amount of water, etc.). The system 103 make sure that the dog is gettingenough water and watch for patterns of high water consumption. If thetemperature of the water in the bowl 920 (as measured by the temperaturesensor 913) is too high, then the processor 901 can flush the bowl withfresh water (in the case of a plumbing connection) or send a message tothe computer system 103 (in the case of a reservoir).

The food dispenser 121 and water dispenser 120 allow the owner/trainerto leave the dog unattended for a period of time. In one embodiment, thecomputer system 103 contacts the owner if the food dispenser 121 runslow on food, if the water dispenser 120 runs low on water, or if thecomputer 103 cannot make contact with the dispensers 120,121. In oneembodiment, the owner/trainer can specify the threshold value fordetermining at what point the system 100 warns the owner of low food orwater supplies. Thus, for example, if the owner is relatively close by(e.g., at work) the threshold can be set relatively low since the dogwould not be without food or water for very long if the supply runs out.By contrast, if the owner is relatively far away (e.g., out of town)then the threshold can be set relatively high since the dog wouldpotentially be without food or water for an extended time if the supplyruns out.

FIG. 10 is a diagram of one embodiment of the dog toilet system 117 thatincludes an optional RFID sensor 1014, a refuse bin 1010, a urinationsensor 1005, and a refuse sensor 1006 provided to a processor 1001. Thedog toilet 117 tracks the dog's patterns and disposes of refuse. Theshort-range RFID sensor 1014 is used to distinguish between multipledogs

In one embodiment, the computer system 103 uses the biometric dataavailable from the RFID tag 310, the water consumption data from thewater dispenser 120, the food consumption data from the food dispenser121, and/or the data from the dog toilet 117 to monitor the health andwell being of the dog 101 on a real-time basis and on a long-term basis.Since the system 100 can be configured in a flexible manner (e.g., theowner/trainer may or may not have included the water dispenser 120, thefood dispenser 121, etc.) different configurations of the system 100will have different data available. The system 100 uses whatever data isavailable in making the health and welfare determinations. Thus forexample, if the system 100 only has data from the collar 102, then thehealth and well-being information will be based on the information fromthe collar 102. As more capability is added to the system 100 (e.g., theowner/trainer adds additional monitoring capabilities) then the system100 expands the analysis of health and well-being to use the additionaldata when appropriate. The computer system 103 can collect long-termbehavior on the dogs 101 and produce plots and charts for theowner/trainer to allow for long-term health monitoring. Moreover, thecomputer system 103 can watch for changes in the long-term trends thatcould indicate health problems. Thus, for example, if the dog 101 isnormally active at various times throughout the day and suddenly becomesinexplicably inactive, the computer 103 would inform the owner/trainerthat the dog may be sick. In another example, if the food or waterconsumption patters of the dog 101 changes significantly, then thesystem 100 can inform the owner/trainer.

In one embodiment, the compute system 103 keeps data concerning thecalories consumed by the dog. In one embodiment, the compute system 103keeps data concerning the number and types of corrective treatmentsgiven to the dog and the reasons therefore (e.g., what the dog was doingthat caused the system to give a corrective treatment). In oneembodiment, the compute system 103 keeps data concerning the number ofand types of positive reinforcements given to the dog and the reasonstherefore. In one embodiment, the compute system 103 keeps dataconcerning the amount of time the dog spends training, playing,sleeping, etc. In one embodiment, the system 100 keeps data concerningdog barking (when, how long, how loud, etc.). The system 100 can produceplots and charts of barking behavior to help the owner/trainer inbreaking the dog of barking behavior. In one embodiment, the system 100can be instructed to contact the owner/trainer when the dog is barking.The owner can remotely talk to the dog (e.g., through the telephone) andtry to quiet the dog.

In one embodiment, the system 100 uses ambient weather information aspart of the health and well-being analysis. For example, a modestincrease in water consumption and a decrease in activity levels duringhot weather is generally expected, whereas an increase in foodconsumption is generally expected during relatively cold weather. Thus,in one embodiment, the system 100 takes such weather-related consumptionpatterns into account when making decisions about reporting a change inconsumption patterns.

In one embodiment, many of the sensors and dog interaction devices inthe system 100 are configured as wireless devices. Wireless devices aregenerally easier to install since they do not require wiring tocommunicate with the computer system 103. Moreover, items, such as thetoys 114-116 that are moveable are easier for the dog to play with ifthey do not have a wired connection back to the computer system 103. Theuse of wireless devices also allows easy expansion of the system 100since new wireless devices can automatically identify themselves to thecomputer system 103, thus allowing many aspects of the system 100 to beauto-configured. For example, in one embodiment the treat dispenser 122automatically identifies itself to the computer system 103, thusinforming the system 103 that treats are available for training the dog.The system 103 uses training without treats from the dispenser 122 whenthe dispenser 122 is not provided, has run out of treats, or has run outof battery power. Conversely, the system 103 can use training withtreats when the dispenser 122 is available, and has enough battery powerand treats.

The sensors 129 can be configured as wired or wireless sensors and caninclude, for example, sensors to measure ambient conditions, such as,for example, smoke, temperature, moisture, wind velocity, precipitation,water, water temperature, humidity, carbon monoxide, natural gas,propane gas, security alarms, intrusion alarms (e.g., open doors, brokenwindows, open windows, and the like), other flammable gases, radon,poison gasses, etc. Different sensor units can be configured withdifferent sensors or with combinations of sensors.

The wireless units of the system 100, such as, for example, thedispensers 120-122, the toys 114-116, the dog house 119, the collar 102,etc. each include a transceiver for wireless communication. These itemscommunicate with the computer system 103 either directly through the RFbase unit 104 or through one or more repeaters 113. The use of therepeaters 113 provides extended range and allows the various RF units tobe dispersed throughout the house, yard, farm field, etc. In oneembodiment, the repeaters are configured to be plugged into a walloutlet or otherwise provided with sufficient power. In one embodiment,one or more of the repeaters 113 are solar powered with batteries toprovide operation during the night or on cloudy days. In one embodiment,the use of repeaters 113 allows the various RF units 102, 114-122 tooperate at relatively lower power in order to conserve available power.In one embodiment, the transmit power of the transceivers in the RFunits 102, 114-122 is adjustable, and the transmit power of eachtransceivers is reduced to that sufficient to provide relativelyreliable communication with at least one repeater 113 (or the base unit104). In one embodiment, the RF units 102, 114-122 use a two-wayhandshaking communication with the base unit 104 wherein messages set tothe base unit 104 are acknowledged by the base unit 104 and messagessent by the base unit 104 to the RF units 102, 114-122 are acknowledgedby the respective RF units. The use of handshaking acknowledgement thata message has been received increases the reliability of the wirelesscommunication system and often allows the wireless devices to operate atrelatively lower power.

Each of the wireless units of the system 100, such as, for example, thedispensers 120-122, the toys 114-116, the dog house 119, the collar 102,etc. includes a wireless communication transceiver 202 for communicationwith the base unit 104 (or repeater 113). Thus, the discussion thatfollows generally refers to the collar 102 as an example, and not by wayof limitation. Similarly, the discussion below generally refers to thebase unit 104 by way of example, and not limitation. It will also beunderstood by one of ordinary skill in the art that repeaters 113 areuseful for extending the range of the collar 102 but are not required inall configurations.

When the collar 102 detects a reportable condition (e.g., barking,choking, dog outside established boundaries, dog temperature too high ortoo low, dog moving though a doorway, etc.) the collar 102 communicateswith the repeater unit 113 and provides data regarding the occurrence.The repeater unit 113 forwards the data to the base unit 104, and thebase unit 104 forwards the information to the computer 103. The computer103 evaluates the data and takes appropriate action. If the computer 103determines that the condition is an emergency, then the computer 103contacts the owner/trainer through telephone communication, Internet,the remote 112, the monitor 108, the computer monitor, etc. If thecomputer 103 determines that the situation warrants reporting, but isnot an emergency, then the computer 103 logs the data for laterreporting to the owner/trainer when the owner/trainer requests a statusreport from the computer 103.

In one embodiment, the collar 102 has an internal power source (e.g.,battery, solar cell, fuel cell, etc.). In order to conserve power, thecollar 102 is normally placed in a low-power mode. In one embodiment,using sensors that require relatively little power, while in the lowpower mode the collar 102 takes regular sensor readings and evaluatesthe readings to determine if a condition exists that requires data to betransmitted to the central computer 103 (hereinafter referred to as ananomalous condition). In one embodiment, using sensors that requirerelatively more power, while in the low power mode the collar 102 takesand evaluates sensor readings at periodic intervals. Such sensorreadings can include, for example, sound samples from the microphone204, location readings from the location sensors 301, 302, 303, and/or304, physiological readings from the RFID tag 310, etc.) If an anomalouscondition is detected, then the collar 102 “wakes up” and beginscommunicating with the base unit 104 through the repeater 113. Atprogrammed intervals, the collar 102 also “wakes up” and sends statusinformation (e.g., power levels, self diagnostic information, etc.) tothe base unit 104 and then listens for commands for a period of time. Inone embodiment, the collar 102 also includes a tamper detector. Whentampering with the collar 102 is detected (e.g., someone has removed thecollar 102 or the dog has somehow gotten out of the collar 102, etc.),the collar 102 reports such tampering to the base unit 104.

In one embodiment, the collar 102 provides bi-directional communicationand is configured to receive data and/or instructions from the base unit104. Thus, for example, the base unit 104 can instruct the collar 102 toperform additional measurements, to go to a standby mode, to wake up, toreport battery status, to change wake-up interval, to runself-diagnostics and report results, etc. In one embodiment, the collar102 reports its general health and status on a regular basis (e.g.,results of self-diagnostics, battery health, etc.). The computer system103 can also program instructions into the collar 102, such as, forexample, the boundary areas for the dog, the allowable physiologicalparameters for the dog (e.g., the “normal” temperature range, etc.). Ifthe sensors in the collar 102 later detect that a sensed condition isout of range (e.g., dog is out of boundary area, temperature is toohigh, etc.) then the collar will communicate the out-of-rangeinformation to the computer system 103. In one embodiment, the computersystem 103 can also program the operating parameters of the collar 102,such as, for example, the sleep period between sensor measurements, thepower level for the transmitter, the code used for spread spectrumtransmissions, etc. In one embodiment, the computer system 103 can alsoprogram various signal processing information into the collar 102, suchas, for example, the coefficients and/or algorithms used to recognizethe dog's vocalizations (e.g., barking, whimpering, cries of pain,choking, etc.).

In one embodiment, the collar 102 samples, digitizes, and stores audiodata from the microphone 204 when such data exceeds a volume thresholdand/or when other sensors indicate that the audio data should bedigitized and stored. For example, choking sounds are often not veryloud, but are often accompanied by distinctive head movements. In oneembodiment, the collar 102 digitizes audio data from the microphone whenthe IMU 303 detects head movements that are suggestive of choking,gagging, regurgitating, etc. In one embodiment, the collar 102, havingless processing power than the computer system 103, transmits thesampled audio data and related IMU data to the computer 103 for furtherprocessing. In one embodiment, the collar 102 performs initial thresholdtests on the audio data 102 to determine if the character of the audiodata and/or IMU data justify the use of available power in the collar totransmit the data to the computer system 103. If the collar 102determines that the digitized audio data is relatively unlikely to beimportant, then the collar 102 can save power by not transmitting thedata to the computer 103.

In one embodiment, the computer system 103 can instruct the collar 102to automatically apply a correction (e.g., vibration, shock, unpleasantsound, unpleasant smell, etc.) to the dog if the collar 102 detects thatthe dog is barking. In one embodiment, the computer system 103 instructthe collar 102 to not automatically apply a correction to the dog if thecollar 102 detects that the dog is barking, but rather to send a “dog isbarking” message to the computer system 103 in order to allow thecomputer system 103 (or the owner/trainer) to make the decisionsregarding correction. In one embodiment, the computer system 103instruct the collar 102 to automatically apply a particular correctionto the dog if the collar 102 detects that the dog is barking and to senda “correction applied” message to the computer system 103 in order toallow the computer system 103 to keep track of the corrections that havebeen applied. If the computer system 103 deems that more severecorrection is warranted, then the computer 103 sends a new command tothe collar 102 to change the type or severity of the correction. In oneembodiment, the computer system 103 sends a “good dog” message to thedog (through the speaker 206) when the dog stops barking.

In one embodiment, the collar 102 provides two wake-up modes, a firstwake-up mode for taking sensor measurements (and reporting suchmeasurements if deemed necessary), and a second wake-up mode forlistening for commands from the central computer 103. The two wake-upmodes, or combinations thereof, can occur at different intervals.

In one embodiment, the collar 102 use spread-spectrum techniques tocommunicate with the repeater unit 113. In one embodiment, the collar102 uses Code Division Multiple Access (CDMA) techniques. In oneembodiment, the collar 102 uses frequency-hopping spread-spectrum. Inone embodiment, the collar 102 has an address or identification (ID)code that distinguishes the collar 102 from the other RF units of thesystem 100. The collar 102 attaches its ID to outgoing communicationpackets so that transmissions from the collar 102 can be identified bythe repeater 113. The repeater 113 attaches the ID of the collar 102 todata and/or instructions that are transmitted to the collar 102. In oneembodiment, the collar 102 ignores data and/or instructions that areaddressed to other RF units.

In one embodiment, the collar 102 includes a reset function. In oneembodiment, the reset function is activated by a reset switch on thecollar 102. In one embodiment, the reset function is activated whenpower is applied to the collar 102. In one embodiment, the resetfunction is activated when the collar 102 is connected to the computersystem 103 by a wired connection for programming. In one embodiment, thereset function is active for a prescribed interval of time. During thereset interval, the transceiver 202 is in a receiving mode and canreceive the identification code from the computer 103. In oneembodiment, the computer 103 wirelessly transmits a desiredidentification code. In one embodiment, the identification code isprogrammed by connecting the collar 102 to the computer through anelectrical connector, such as, for example, a USB connection, a firewireconnection, etc. In one embodiment, the electrical connection to thecollar 102 is provided by sending modulated control signals (power linecarrier signals) through a connector used to connect the power source203. In one embodiment, the external programmer provides power andcontrol signals.

In one embodiment, the collar 102 communicates with the repeater 113 onthe 900 MHz band. This band provides good transmission through walls andother obstacles normally found in and around a building structure. Inone embodiment, the collar 102 communicates with the repeater 113 onbands above and/or below the 900 MHz band. In one embodiment, the collar102, repeater 113, and/or base unit 104 listen to a radio frequencychannel before transmitting on that channel or before beginningtransmission. If the channel is in use, (e.g., by another device such asanother repeater, a cordless telephone, etc.) then the sensor, repeater,and/or base unit changes to a different channel. In one embodiment, thecollar 102, repeater, and/or base unit coordinate frequency hopping bylistening to radio frequency channels for interference and using analgorithm to select a next channel for transmission that avoids theinterference. Thus, for example, in one embodiment, if the collar 102senses a dangerous condition (e.g., the dog 101 is choking or crying inpain) and goes into a continuous transmission mode, the collar 102 tests(e.g., listens to) the channel before transmission to avoid channelsthat are blocked, in use, or jammed. In one embodiment, the collar 102continues to transmit data until it receives an acknowledgement from thebase unit 104 that the message has been received. In one embodiment, thecollar transmits data having a normal priority (e.g., statusinformation) and does not look for an acknowledgement, and the collartransmits data having elevated priority until an acknowledgement isreceived.

The repeater unit 113 is configured to relay communications trafficbetween the collar 102 and the base unit 104. The repeater unit 113typically operates in an environment with several other repeater units.In one embodiment, the repeater 113 has an internal power source (e.g.,battery, solar cell, fuel cell, etc.). In one embodiment, the repeater113 is provided to household electric power. In one embodiment, therepeater unit 113 goes to a low-power mode when it is not transmittingor expecting to transmit. In one embodiment, the repeater 113 usesspread-spectrum techniques to communicate with the base unit 104 andwith the collar 102. In one embodiment, the repeater 113 usesfrequency-hopping spread-spectrum to communicate with the base unit 104and the collar 102. In one embodiment, the repeater unit 113 has anaddress or identification (ID) code and the repeater unit 113 attachesits address to outgoing communication packets that originate in therepeater (that is, packets that are not being forwarded).

In one embodiment, the base unit 104 communicates with the collar 102 bytransmitting a communication packet addressed to the collar unit 102.The repeaters 113 receive the communication packet addressed to thecollar unit 102. The repeaters 113 transmit the communication packetaddressed to the collar 102 to the collar unit 102. In one embodiment,the collar unit 102, the repeater units 113, and the base unit 104communicate using Frequency-Hopping Spread Spectrum (FHSS), also knownas channel-hopping.

Frequency-hopping wireless systems offer the advantage of avoiding otherinterfering signals and avoiding collisions. Moreover, there areregulatory advantages given to systems that do not transmit continuouslyat one frequency. Channel-hopping transmitters change frequencies aftera period of continuous transmission, or when interference isencountered. These systems may have higher transmit power and relaxedlimitations on in-band spurs. FCC regulations limit transmission time onone channel to 1200 milliseconds (averaged over a period of time 10-20seconds depending on channel bandwidth) before the transmitter mustchange frequency. There is a minimum frequency step when changingchannels to resume transmission.

In one embodiment, the collar unit 102, the repeater unit 110, and thebase unit 104 communicate using FHSS wherein the frequency hopping ofthe collar unit 102, the repeater unit 110, and the base unit 104 arenot synchronized such that at any given moment, the collar 102 and therepeater unit 113 are on different channels. In such a system, the baseunit 104 communicates with the collar 102 using the hop frequenciessynchronized to the repeater unit 113 rather than the collar unit 102.The repeater unit 113 then forwards the data to the collar unit usinghop frequencies synchronized to the collar unit 102. Such a systemlargely avoids collisions between the transmissions by the base unit 104and the repeater unit 110.

In one embodiment, the RF units 102, 114-122 use FHSS and are notsynchronized. Thus, at any given moment, it is unlikely that any two ormore of the units 102, 114-122 will transmit on the same frequency. Inthis manner, collisions are largely avoided. In one embodiment,collisions are not detected but are tolerated by the system 100. If acollision does occur, data lost due to the collision is effectivelyre-transmitted the next time the collar units transmit collar data. Whenthe units 102, 114-122 and repeater units 113 operate in asynchronousmode, then a second collision is highly unlikely because the unitscausing the collisions have hopped to different channels. In oneembodiment, the unit 102, 114-122, repeater units 113, and the base unit104 use the same hop rate. In one embodiment, the units 102, 114-122,repeater units 113, and the base unit 104 use the same pseudo-randomalgorithm to control channel hopping, but with different starting seeds.In one embodiment, the starting seed for the hop algorithm is calculatedfrom the ID of the units 102, 114-122, repeater units 113, or the baseunit 104.

In an alternative embodiment, the base unit 104 communicates with thecollar 102 by sending a communication packet addressed to the repeaterunit 113, where the packet sent to the repeater unit 113 includes theaddress of the collar unit 102. The repeater unit 113 extracts theaddress of the collar 102 from the packet and creates and transmits apacket addressed to the collar unit 102.

In one embodiment, the repeater unit 113 is configured to providebi-directional communication between the collar 102 and the base unit104. In one embodiment, the repeater 113 is configured to receiveinstructions from the base unit 104. Thus, for example, the base unit104 can instruct the repeater to: send commands to the collar 102; go tostandby mode; “wake up”; report power status; change wake-up interval;run self-diagnostics and report results; etc.

The base unit 104 is configured to receive measured collar data from anumber of RF units either directly, or through the repeaters 113. Thebase unit 104 also sends commands to the repeater units 113 and/or tothe collar 102. When the base unit 104 receives data from the collar 102indicating that there may be an emergency condition (e.g., the dog is indistress) the computer 103 will attempt to notify the owner/trainer.

In one embodiment, the computer 104 maintains a database of the health,power status (e.g., battery charge), and current operating status of allof the RF units 102, 114-122 and the repeater units 113. In oneembodiment, the computer 103 automatically performs routine maintenanceby sending commands to each unit 102, 114-122 to run a self-diagnosticand report the results. The computer 103 collects and logs suchdiagnostic results. In one embodiment, the computer 103 sendsinstructions to each RF unit 102, 114-122 telling the unit how long towait between “wakeup” intervals. In one embodiment, the computer 103schedules different wakeup intervals to different RF units based on theunit's health, power status, location, usage etc. In one embodiment, thecomputer 103 schedules different wakeup intervals to different collarunits based on the type of data and urgency of the data collected by theunit (e.g., the collar 102 has higher priority than the water unit 120and should be checked relatively more often). In one embodiment, thebase unit 104 sends instructions to repeaters 113 to route collarinformation around a failed repeater 113.

In one embodiment, the computer 103 produces a display that tells theowner/trainer which RF units need repair or maintenance. In oneembodiment, the computer 103 maintains a list showing the status and/orlocation of each dog 101 according to the ID of each collar. In oneembodiment, the ID of the collar 102 is obtained from the RFID chipembedded in the dog 101. In one embodiment, the ID of the collar 102 isprogrammed into the collar by the computer system 103. In oneembodiment, the ID of the collar 102 is programmed into the collar atthe factory such that each collar has a unique ID.

In one embodiment, the collar 102 and/or the repeater units 113 measurethe signal strength of the wireless signals received (e.g., the collar102 measures the signal strength of the signals received from therepeater unit 113, the repeater unit 113 measures the signal strengthreceived from the collar 102 and/or the base unit 104). The collar unit102 and/or the repeater units 113 report such signal strengthmeasurement back to the computer 103. The computer 103 evaluates thesignal strength measurements to ascertain the health and robustness ofthe RF units of the system 100. In one embodiment, the computer 103 usesthe signal strength information to re-route wireless communicationstraffic in the system 100. Thus, for example, if the repeater unit 113goes offline or is having difficulty communicating with the collar unit102, the computer 103 can send instructions to a different repeater unit

In the collar 102, the controller 202 typically provides power, data,and control information to the transceiver 201. A power source 203 isprovided to the controller 201. An optional tamper sensor (not shown) isalso provided to the controller 201. A reset device (e.g., a switch) isproved to the controller 201.

In one embodiment, the transceiver 202 is based on a TRF 6901transceiver chip from Texas Instruments. Inc. In one embodiment, thecontroller 201 is a conventional programmable microcontroller. In oneembodiment, the controller 201 is based on a Field Programmable GateArray (FPGA), such as, for example, provided by Xilinx Corp. In oneembodiment, the collar 201 includes a smoke detector. In one embodiment,the collar 102 includes a temperature sensor to measure ambienttemperature. In one embodiment the collar 102 includes a water sensor.

The controller 202 receives collar data from the sensors and systems inthe collar 102. The collar 102 generally conserves power by nottransmitting sensor data that falls within a normal range unless thecollar 102 is being interrogated by the compute system 103. In oneembodiment, the controller 202 evaluates sensor data by comparing thedata value to a threshold value (e.g., a high threshold, a lowthreshold, or a high-low threshold). If the data is outside thethreshold (e.g., above a high threshold, below a low threshold, outsidean inner range threshold, or inside an outer range threshold), then thedata is deemed to be anomalous and is transmitted to the base unit 104.In one embodiment, the data threshold is programmed into the controller202. In one embodiment, the data threshold is programmed by the baseunit 104 by sending instructions to the controller 202. In oneembodiment, the controller 202 obtains collar data and transmits thedata when commanded by the computer 103.

In one embodiment, a tamper sensor 1105 is configured as a switch thatdetects removal of or tampering with the collar unit 102.

FIG. 11 is a block diagram of the repeater unit 113. In the repeaterunit 113, a first transceiver 1102 and a second transceiver 1105 areprovided to a controller 1103. The controller 1103 typically providespower, data, and control information to the transceivers 1102, 1104. Apower source 1106 is provided to the controller 1103.

When relaying collar data to the base unit 104, the controller 1103receives data from the first transceiver 1103 and provides the data tothe second transceiver 1104. When relaying instructions from the baseunit 104 to a collar unit, the controller 1103 receives data from thesecond transceiver 1104 and provides the data to the first transceiver1102. In one embodiment, the controller 1103 conserves power by placingthe transceivers 1102, 1104 in a low-power mode during periods when thecontroller 1103 is not expecting data. The controller 1103 also monitorsthe power source 1106 and provides status information, such as, forexample, self-diagnostic information and/or information about the healthof the power source 1106, to the base unit 104. In one embodiment, thecontroller 1103 sends status information to the base unit 104 at regularintervals. In one embodiment, the controller 1103 sends statusinformation to the base unit 104 when requested by the base unit 104. Inone embodiment, the controller 1103 sends status information to the baseunit 104 when a fault condition (e.g., battery low, power failure, etc.)is detected.

FIG. 12 is a block diagram of the base unit 104. In the base unit 104, atransceiver 1202 and a computer interface 1204 are provided to acontroller 1203. The controller 1103 typically provides data and controlinformation to the transceivers 1202 and to the interface. The interface1202 is provided to a port on the monitoring computer 103. The interface1202 can be a standard computer data interface, such as, for example,Ethernet, wireless Ethernet, firewire port, Universal Serial Bus (USB)port, bluetooth, etc.

In one embodiment, the owner/trainer selects a dog breed for the dog 101from a list of breeds provided by the computer 103. The computer 103adjusts the training environment based on the dog breed. Thus, forexample, an active dog such as a border collie will receive relativelymore training and/or play than a relatively less active dog breed. Inone embodiment, the owner/trainer inputs the dog's age, sex, and generalhealth into the computer 103 to allow the computer 103 to adjust thetype of training, length of training etc. In one embodiment, the system103 maintains records of the dogs health (e.g., temperature, heart rate,food consumption, etc.), training patterns and training progress. Thecomputer system 103 can produces plots and graphs showing the dogsprogress, comparing the progress of the dog 101 to other dogs, to thedog's progress from previous time periods, (e.g., months, years, etc.).In one embodiment, the computer system 103 evaluates the dog's healthand training progress and makes suggestions to the owner/trainer. In oneembodiment, the computer system 103 provides answers to questionsselected by the owner/trainer from a list of questions and adjusts suchanswers based on the health and training history of the dog 101. In oneembodiment, the computer system 103 forwards to dog's data (e.g. healthdata, training data, etc.) to a remote trainer who can then givefeedback to the dog's owner/trainer. Thus, for example, if the dog 101is exhibiting destructive behavior the owner/trainer can ask thecomputer 103 (or, optionally, a remote trainer) for recommendations tocure such behavior and the computer 103 can make recommendations basedon the dog's breed, age, training history, etc. If the dog 101 isexhibiting poor training progress the owner/trainer can ask the computer103 (or, optionally, a remote trainer) for recommendations to cure suchbehavior and the computer 103 can make recommendations based on thedog's breed, age, training history, etc. If the dog 101 is exhibitingpotential health problems, the owner/trainer can ask the computer 103(or, optionally, a remote veterinarian) for recommendations.

It is well known that most dogs prefer to keep to a relatively fixeddaily schedule. The training system 100 is better adapted to maintaininga fixed daily routine than a working owner/trainer who has otherresponsibilities. Thus, for example, the system 100 can feed the dogprescribed amounts of food at prescribed times of day. The system 100can play with the dog at prescribed times of day. The system 100 cantrain the dog at prescribed times of day and allow the dog in or out ofthe house at prescribed times. After an initial adjustment period, thedog 101 will adjust to the schedule provided by the system 100 and willin general be happier and healthier than a dog that must adjust to anowner's varying schedule. The dog 101 also benefits from theimpartiality of the training and management system 100. Unlike anowner/trainer, the system 100 will not get mad at the dog and punish thedog out of anger. In one embodiment, the system 100 provides bettertraining than a typical owner or trainer because the system 100 isprovided with a training program designed by an expert. Thus, the system100 is less likely to punish the dog 101 in a situation where the dogdoes not understand the reason for the punishment. Moreover, the system100, is relatively more likely to reward the dog in such a way that thedog understands the reason for the reward and will make the connectionbetween desired behavior and the reward. For example, many untrainedowners do not understand that reward should generally occur immediatelyso that the dog will properly associate action with reward. The system100 has a relatively high-quality training program built-in and thusalleviates the need for an owner to buy books to study and learn properdog training methods. In one embodiment, a professional trainer workswith the dog 101 for a relatively short period of time in order to getthe dog accustomed to the system 100, and then the dog 101 can work withthe system 100 for extended periods without supervision.

In one embodiment, a remote trainer can use the Internet or telephonemodem to connect to the computer system 103 and remotely train the dogor provide other interaction with the dog.

FIG. 13 is a block diagram of a ball tossing unit 1300 used to play“fetch” with the dog. The ball tossing unit 1300 includes a processor1301 and (optional) RF unit 1302, a ball launcher 1304, a ball sensor1305, and optionally, a light or sound device 1306. The ball tossingunit 1300 uses the ball launcher 1304 to launch a ball for the dog tofetch. When the dog fetches the ball and drops in a basket or otherreceptacle in the ball tossing unit 1300, the ball sensor detects thefetched ball 1305. In one embodiment, the ball tossing unit is operatedby command from the computer system 103. In one embodiment, the balltossing unit is operated according to a timer such that the unit playsfetch with the dog at prescribed periods.

FIG. 14 is a architectural-type drawing of the floor plan of a portionof a house showing examples of placement of locations sensors to sensethe movement of the dog around the house. In FIG. 14, relativelyshort-range sensors are placed in doorways or key passageways (e.g.,halls, stairs, etc.) to track the general movement of the dog throughthe house. Location system units 1420-1423 are placed in or neardoorways, and a location system unit 1424 is placed in a stairway.

In one embodiment, the location system units 1420-1424 are (or include)relatively short-range RFID readers that read the passage of the dog'sRFID tag as the dog passes by the reader when going through the doorway,hallway, etc. in which the reader is located. The RFID reader reportsthe movement back to the computer system 103 which keeps a record of thedog's movements and current whereabouts. As with the dog house 119, inone embodiment, the location system units 1420-1424 can perform many ofthe functions of the collar 102 such as, for example, reading biometricdata from the RFID tag 310. In one embodiment, the collar 102 is omittedor can be removed from the dog 101 while the dog 101 is in the house. Inone embodiment, location system units 1410-1412 are placed relativelyhigh in the room (e.g., on the ceiling) to provide a view of the variousrooms of the house.

In one embodiment, the location system units 1420-1424 or 1410-1412 are(or include) infrared sensors that communicate with the infrared system301 in the collar 102 to provide relatively short-range relativelyline-of sight communication for tracking the movements of the dog. Asthe dog passes the location system units 1420-1424 or 1410-1412, thesensor communicates with the collar 102 to note the passage of the dogand the information is then transmitted back to the computer 103 eitherby the collar 102 or the location system units 1420-1424 or 1410-1412.In one embodiment, the location system units 1420-1424 or 1410-1412 alsooperate as motion detectors for a home security system.

In one embodiment, the location system units 1420-1424 or 1410-1412 are(or include) acoustic sensors that communicate with the acoustic systemsin the collar 102 to provide relatively short-range relatively line-ofsight communication for tracking the movements of the dog. As the dogpasses the location system units 1420-1424 or 1410-1412, the sensorcommunicates with the collar 102 to note the passage of the dog and theinformation is then transmitted back to the computer 103 either by thecollar 102 or the location system units 1420-1424 or 1410-1412. In oneembodiment, the location system units 1420-1424 or 1410-1412 alsooperate as motion detectors for a home security system.

In one embodiment, the location system units 1420-1424 or 1410-1412 are(or include) relatively low-power microwave transmitters or receiversthat communicate with the RF system 304 in the collar 102 to providerelatively short-range relatively line-of sight communication fortracking the movements of the dog. As the dog passes the location systemunits 1420-1424 or 1410-1412, the sensor communicates with the collar102 to note the passage of the dog and the information is thentransmitted back to the computer 103 either by the collar 102 or thelocation system units 1420-1424 or 1410-1412.

In one embodiment, the computer system 103 is provided with a map of thehouse and shows the location of the dog with respect to the map.

In one embodiment, the system 100 determines when the dog is sleeping bymonitoring the dogs movement and temperature.

In one embodiment one or more of the radio frequency aspects of thesystem 100 use a frequency band between 800 and 1100 MHz for generalcommunications. In one embodiment, one or more of the radio frequencyaspects of the system 100 use frequencies below 800 MHz for emergency orlonger-range communication. In one embodiment, the frequencycapabilities of the transceivers in the collar 102 are adjustable, andthe base unit 104 and collar 102 select are configured to usecommunication frequencies that conserve power while still providingadequate communications reliability. In one embodiment, one or more ofthe radio frequency aspects of the system 100 use frequencies above 1100MHz for relatively short-range communication (e.g. communication withina room). In one embodiment, the base unit 104 and/or one or more of therepeaters 113 includes a direction finding antenna for determining adirection of the radiation received from the collar 102. In oneembodiment, the base unit 104 and/or one or more of the repeaters 113includes an adaptive antenna for increasing antenna gain in thedirection of the collar 102. In one embodiment, the base unit 104 and/orone or more of the repeaters 113 includes an adaptive antenna forcanceling interfering noise.

In one embodiment, the collar 102 includes radio frequency, acoustic andinfrared communications capabilities. In one embodiment, the system 100communicates with the collar 102 using radio frequency, acoustic orinfrared communication depending on the situation, e.g., acoustic,infrared, or relatively higher frequency radio frequencies forrelatively shorter range communication and relatively lower frequencyradio frequencies for relatively longer range communications.

Although various embodiments have been described above, otherembodiments will be within the skill of one of ordinary skill in theart. Thus, although described in terms of a dog, such description wasfor sake of convenience and not by way of limitation. One of ordinaryskill in the art will recognize that all or part of the system 100 canbe applied to other animals, such as, for example, cats, livestock, zooanimals, farm animals, etc. Thus, the invention is limited only by theclaims that follow.

1. An animal training system, comprising: a computer system provided toa first wireless communication transceiver; an animal collar provided toa second wireless communication transceiver, said animal collar havingan identification code, said animal collar configured to communicatewith said computer system using wireless two-way handshakingcommunication according to said identification code such that saidcomputer system can send commands to said animal collar and receiveacknowledgement of receipt of said commands from said animal collar, andsaid animal collar can send data to said computer system and receiveacknowledgement of receipt of said data by said computer system, saidcomputer system configured to send commands to said animal collar, saidcomputer system configured to receive data from said animal collarrelated to one or more actions of an animal wearing said animal collar;one or more sensors provided to said animal collar; and at least onestimulus device provided to said animal collar, said computer systemconfigured to use said stimulus device in connection with a trainingregimen, said animal collar configured to provide negative stimulus andpositive stimulus, wherein said computer system receives current sensordata from said animal collar and selects a stimulus based, at least inpart, on said current sensor data, said training regimen, and previoussensor data.
 2. The system of claim 1, wherein said one or more sensorscomprises an acoustic input device.
 3. The system of claim 1, whereinsaid at least one stimulus device comprises an acoustic output device.4. The system of claim 1, wherein said at least one stimulus devicecomprises a vibrator device.
 5. The system of claim 1, wherein said atleast one stimulus device comprises an odor output device.
 6. The systemof claim 1, said animal collar further comprising an infrared receiver.7. The system of claim 1, said animal collar further comprising aninfrared transmitter.
 8. The system of claim 1, wherein said one or moresensors comprises a location sensor.
 9. The system of claim 1, whereinsaid one or more sensors comprises a receiver configured to receive GPSsignals.
 10. The system of claim 1, wherein said one or more sensorscomprises a receiver configured to receive radio navigation signals. 11.The system of claim 1, said animal collar further comprising an inertialmotion unit.
 12. The system of claim 1, said animal collar furthercomprising an accelerometer.
 13. The system of claim 1, wherein said oneor more sensors comprises a sound sensor.
 14. The system of claim 1,said animal collar further comprising an RFID tag reader.
 15. The systemof claim 1, said management system further comprising atemperature-sensing RFID tag.
 16. The system of claim 1, said managementsystem further comprising a computer-controlled treat dispenser.
 17. Thesystem of claim 1, said management system further comprising acomputer-controlled water dispenser.
 18. The system of claim 1, saidmanagement system further comprising a computer-controlled fooddispenser.
 19. The system of claim 1, said management system furthercomprising a computer-controlled animal toilet.
 20. The system of claim1, said management system further comprising a computer-controlledanimal house.
 21. The system of claim 1, said management system furthercomprising a video monitor.
 22. The system of claim 1, said managementsystem further comprising an animal toy provided with a third wirelesscommunication device.
 23. The system of claim 22, said animal toycomprising a light.
 24. The system of claim 22, said animal toycomprising an acoustic input device.
 25. The system of claim 22, saidanimal toy comprising an acoustic output device.
 26. The system of claim22, said animal toy comprising a touch sensor.
 27. The system of claim22, said animal toy comprising a motion sensor.
 28. The system of claim22, said animal toy comprising a location tracking system.
 29. Thesystem of claim 22, said animal toy comprising a movement actuatorsystem.
 30. The system of claim 22, said animal toy comprising a motor.31. The system of claim 1, said animal collar further comprising a treatdispenser.
 32. The system of claim 1, further comprising one or morerepeaters.
 33. The system of claim 1, further comprising one or morelocation system units disposed about an area.
 34. The system of claim33, wherein one or more of said location system units are configured touse infrared radiation for location and tracking of said animal collar.35. The system of claim 33, wherein one or more of said location systemunits are configured to use acoustic waves for location and tracking ofsaid animal collar.
 36. The system of claim 33, wherein one or more ofsaid location system units are configured to use electromagnetic wavesfor location and tracking of said animal collar.
 37. The system of claim33, wherein one or more of said location system units further comprisesmotion detectors for a home security system.
 38. The system of claim 1,wherein said at least one stimulus device comprises an electric shockdevice.
 39. The system of claim 1, wherein said at least one stimulusdevice comprises an audio output device configured to make sounds toprovide a negative stimulus.
 40. The system of claim 1, wherein said atleast one stimulus device comprises an audio output device configured tomake sounds to provide a positive stimulus.
 41. The system of claim 1,wherein said at least one stimulus device comprises an audio outputdevice configured to make sounds corresponding to a trainers voice. 42.The system of claim 1, wherein said at least one stimulus devicecomprises an audio output device configured to make sounds correspondingto a trainers voice.
 43. The system of claim 1, wherein said computersystem is configured to train an animal to avoid a prohibited area byusing a combination of positive stimulus and negative stimulus.
 44. Thesystem of claim 1, wherein said computer system is configured to trainan animal to stay in a designated area by using a combination ofpositive stimulus and negative stimulus.
 45. The system of claim 1,wherein said computer system is configured to train an animal to adesired behavior by using a combination of positive stimulus andnegative stimulus.
 46. The system of claim 1, wherein said computersystem is configured to train an animal to a desired behavior by usingpositive stimulus when at least one of said one or more sensors producedata indicating the animal has acted as desired, and by using negativestimulus when at least one of said one or more sensors produce dataindicating the animal has not acted as desired.
 47. The system of claim1, wherein said computer system is configured to use said one or moresensors and said at least one stimulus device to interact with an animalto entertain the animal.
 48. The system of claim 1, wherein saidcomputer system is configured to use said one or more sensors and saidat least one stimulus device to interact with an animal to exercise theanimal.